CN207356172U - Novel ophthalmic surgical robot - Google Patents
Novel ophthalmic surgical robot Download PDFInfo
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- CN207356172U CN207356172U CN201720085930.0U CN201720085930U CN207356172U CN 207356172 U CN207356172 U CN 207356172U CN 201720085930 U CN201720085930 U CN 201720085930U CN 207356172 U CN207356172 U CN 207356172U
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- fixed frame
- driving device
- surgical robot
- connecting rod
- ophthalmic surgical
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Abstract
The utility model discloses a kind of novel ophthalmic surgical robot, it is characterised in that including：Fixed frame；Fixture, the fixture are installed on the fixed frame, and the fixture is set in which can open and close, and the fixture is used to clamp ophthalmic instruments；First driving means, the first driving means drive the fixture to open and close or set with opening and closing by fixture described in the first actuator drives；Cross-brace arm, is arranged on the cross-brace arm fixed frame adjustable tilt angle；The cross-brace arm is movably set.Novel ophthalmic surgical robot in the utility model, both the angle of inclination of fixed frame can have been adjusted, it can rotate again, it can also lift, and moved along horizontal both direction, so setting makes the Operations Requirements of its all directions that can meet in ophthalmologic operation, it is replaced human hand operation ophthalmic instruments.
Description
Technical field
It the utility model is related to a kind of novel ophthalmic surgical robot.
Background technology
Due to the complexity of eyeball structure, the performance accuracy requirement of ophthalmologic operation harshness is determined, plus what is be extremely limited
Operating space so that ophthalmologic operation becomes one of current most challenging field of surgery.In ophthalmic surgical procedures, it is necessary to by hand
The insertion intraocular operation of art instrument, surgical effect are subject to the restriction that the performance accuracy of doctor and physiology tremble.How ophthalmology is improved
Surgical procedure precision, and the influence for overcoming doctor's physiology to tremble, become the emphasis of current area of ophthalmic surgery research.
Utility model content
One of the purpose of this utility model is to overcome deficiency of the prior art, there is provided one kind can replace human hand to operate
Novel ophthalmic surgical robot.
In order to achieve the above object, the utility model is achieved through the following technical solutions：
Novel ophthalmic surgical robot, it is characterised in that including：
Fixed frame；
Fixture, the fixture are installed on the fixed frame, and the fixture is set in which can open and close, and the fixture is used
In clamping ophthalmic instruments；
First driving means, the first driving means drive the fixture to open and close or pass through the first transmission device
The fixture is driven to set with opening and closing；
Cross-brace arm, is arranged on the cross-brace arm fixed frame adjustable tilt angle；
The cross-brace arm is movably set.
One embodiment according to the present utility model, the fixture include the first clamping limb and the second clamping limb, and described
One clamping limb and the second clamping limb are rotatably installed on fixed frame；The first driving means are the first electric rotating machine,
The transmission device includes first gear and second gear, and first gear is engaged with second gear；The first gear and first
Clamping limb is co-axially mounted；The second gear is co-axially mounted with second clamping limb；The first electric rotating machine driving first
Gear or second gear are rotatably set.
One embodiment according to the present utility model, runing rest and the second driving dress are additionally provided with the fixed frame
Put, the runing rest can be rotatably set on the fixed frame；Second driving device drives the runing rest rotation
Turn ground to set or rotatably set by runing rest described in the second actuator drives.
One embodiment according to the present utility model, second driving device are the second electric rotating machine, and described second passes
Dynamic device is synchronous belt；Second driving device drives the runing rest rotatably to set by the synchronous belt.
One embodiment according to the present utility model, secondary support is additionally provided with the fixed frame, and the secondary support is set
There is through hole；The secondary support is installed between the runing rest and the fixture.
One embodiment according to the present utility model, further includes the 3rd driving device, and the 3rd driving device drives institute
State fixed frame adjustment angle of inclination or set with adjusting the fixed frame angle of inclination by the 3rd transmission device.
One embodiment according to the present utility model, described 3rd transmission device one end is set in which can move along a straight line, another
End is connected with the fixed frame；To be moved along a straight line by one end, the fixed frame for adjusting the other end tilts 3rd transmission device
The transmission device of angle.
One embodiment according to the present utility model, the 3rd transmission device include first connecting rod, second connecting rod, the 3rd
Connecting rod, fourth link, the 5th connecting rod and six-bar linkage；The fourth link is installed on the cross-brace arm, and described second
Connecting rod and the equal lower end of third connecting rod are rotatably coupled with fourth link；Described first connecting rod one end is movably set, another
End is connected with the second connecting rod upper end；5th connecting rod is rotatably connected with the second connecting rod, third connecting rod；
5th interlinking lever end is connected with the fixed frame；Described six-bar linkage one end is rotatably connected with third connecting rod,
The other end is connected with fixed frame；During first connecting rod one end linear motion, the angle of inclination of the fixed frame is adjusted.
One embodiment according to the present utility model, the cross-brace arm set fluted, the 3rd driving device
It is arranged in the groove；The first sliding block of linear motion is provided with the groove；Described in the 3rd driving device driving
First sliding block moves along a straight line；First sliding block is connected with described first transmission device one end.
One embodiment according to the present utility model, the 3rd driving device are the 3rd electric rotating machine, the 3rd rotation
Rotating motor is connected with screw；First sliding block coordinates with the wire rod thread；3rd electric rotating machine drives the screw
Rotation, the screw drive first sliding block along screw axial linear movement when rotating.
One embodiment according to the present utility model, further includes four-drive device, the cross-brace arm is rotatably
It is installed on the second sliding block；The four-drive device drives the cross-brace arm rotatably to set or filled by the 4th transmission
The driving cross-brace arm is put rotatably to set.
One embodiment according to the present utility model, further includes the 5th driving device；Second sliding block is liftably set
It is placed on vertical supporting arm, the 5th driving device directly drives the second sliding block lifting or driven by the 5th transmission device
Second sliding block is moved to set up and down.
One embodiment according to the present utility model, further includes the 6th driving device；The vertical supporting arm horizontal can move
It is arranged at dynamicly in first base, the 6th driving device directly drives the vertical supporting arm and sets or lead to moving horizontally
Vertical supporting seat described in crossing the 6th actuator drives is set with moving horizontally.
One embodiment according to the present utility model, further includes the 7th driving device；The first base is horizontally moveable
Ground is arranged in second base, and the 7th driving device directly drives the first base and sets with moving horizontally or by
First base described in seven actuator drives is set with moving horizontally；The vertical supporting arm moves horizontally direction and described the
One base to move horizontally direction vertical.
Novel ophthalmic surgical robot in the utility model, can not only adjust the angle of inclination of fixed frame, but also can revolve
Turn, can also lift, and moved along horizontal both direction, so setting makes it to meet all directions in ophthalmologic operation
Operations Requirements, allow it to replace human hand operation ophthalmic instruments.First transmission device uses six connecting rod assemblies, can be by
The linear motion driving force of one driving device output is converted to the driving force of the angle of inclination adjustment of driving fixed frame so that this reality
It is simple in structure to be readily produced, assemble with the new angle of inclination for both having realized adjustment ophthalmic instruments.The utility model can generation
Ophthalmologic operation is operated for human hand, adopts the movement of all directions for operating theater instruments of computerizeing control, its movement essence can either be controlled
Degree, will not be trembled by the physiology of people influences, good operation effect and from ectocine.The utility model using automatically opening up and
The fixture of closing, further increases the automatization level of ophthalmologic surgical procedures.Using runing rest, surgical procedure can be increased
Function.Using secondary support, operating theater instruments can be supported, makes its activity more stable.
Brief description of the drawings
Fig. 1 is the utility model structure diagram.
Fig. 2 is the utility model partial structural diagram.
Fig. 3 is the utility model partial structural diagram.
Embodiment
The utility model is further illustrated with attached drawing with reference to embodiments.
As shown in Figure 1, Figure 2 and Figure 3, novel ophthalmic surgical robot, it includes fixed frame 10 and cross-brace arm 20.Gu
Determine frame 10 be used for fixation hold ophthalmic instruments.Fixture 81 is provided with fixed frame 10.The fixture 81 includes the first clamping limb
82 and second clamping limb 83,82 and second clamping limb 83 of the first clamping limb be rotatably installed on fixed frame 10.Gu
Determine the first electric rotating machine 84, first gear 85 and second gear 86 are installed on frame 10.First gear 85 is nibbled with second gear 86
Close.The first gear 85 is co-axially mounted with the first clamping limb 82.The second gear 86 and second clamping limb 83 are coaxial
Installation.First electric rotating machine 82 drives first gear 85 rotatably to set.
Runing rest 90, the second electric rotating machine 91 and synchronous belt 92, the rotation branch are additionally provided with the fixed frame 10
Frame 90 can be rotatably set on the fixed frame 10.Second electric rotating machine 91 is driven described by the synchronous belt 92
Runing rest 90 is rotatably set.Secondary support 93 is additionally provided with the fixed frame 10, the secondary support 93 is provided with through hole
94；The secondary support 93 is installed between the runing rest 90 and the fixture 81.
It is arranged on cross-brace arm 20 10 adjustable tilt angle of fixed frame.The cross-brace arm 20 is set
Fluted 21.The 3rd electric rotating machine 31 is provided with groove 21.3rd electric rotating machine 31 is connected with screw 41, is set with screw 41
There is the first sliding block 51.First sliding block 51 and 41 thread fitting of screw.3rd electric rotating machine 31 driving screw 41 rotates, and can make first
Sliding block 51 moves linearly along the first leading screw 41 is axial.
20 one end of cross-brace arm is installed on the second sliding block 60, and the other end is provided with the 3rd transmission device.3rd transmission
Device includes first connecting rod 71, second connecting rod 72, third connecting rod 73, fourth link 74, the 5th connecting rod 75 and six-bar linkage 76.Institute
Fourth link 74 is stated on the cross-brace arm 20, the 73 equal lower end of second connecting rod 72 and third connecting rod connects with the 4th
Bar 74 is rotatably coupled.Described 71 one end of first connecting rod is connected with the first sliding block 51, on the other end and the second connecting rod 72
End connection.5th connecting rod 75 is rotatably connected with the second connecting rod 72, third connecting rod 73.5th connecting rod
75 ends are connected with the fixed frame 10；Described 76 one end of six-bar linkage is rotatably connected with third connecting rod 73, another
End is connected with fixed frame 10.
The cross-brace arm 20 is rotatably mounted on the second sliding block 60.4th driving is installed on the second sliding block 60
Device 32.The four-drive device 32 drives the cross-brace arm 10 rotatably to set or driven by the 4th transmission device
The cross-brace arm 10 is moved rotatably to set.
Second sliding block 60 is liftably arranged on vertical supporting arm 61.Described is provided with vertical supporting arm 61
Five driving devices 33.5th driving device 33 directly drives second sliding block 60 and lifts or by the 5th actuator drives institute
The second sliding block 60 is stated to set up and down.
The vertical supporting arm 61 is arranged in first base 62 horizontally moveablely.The 6th is provided with first base 62
Driving device 34.6th driving device 34 directly drives the vertical supporting arm 61 and sets with moving horizontally or by the 6th
Vertical supporting arm 61 is set with moving horizontally described in actuator drives.
The first base 62 is arranged in second base 63 horizontally moveablely.The 7th drive is provided with second base 63
Dynamic device 35.7th driving device 35 directly drives the first base 62 and sets with moving horizontally or by the 7th transmission
Device drives the first base 62 to set with moving horizontally；The vertical supporting arm 61 moves horizontally direction and described first
Base 62 to move horizontally direction vertical.
First driving means, the second driving device, the 3rd driving device, four-drive device in the utility model,
Five driving devices, the 6th driving device and the 7th driving device, can use the drivings such as electric rotating machine, linear motor, cylinder dress
Put.It is preferred that using electric rotating machine, more preferably use can utilize the driving device of computer control, such as servomotor.This practicality is new
The first transmission device, the second transmission device, the 3rd transmission device, the 4th transmission device, the 5th transmission device, the 6th biography in type
Dynamic device and the 7th transmission device, can use the transmission devices such as feed screw nut, transmission belt, driving-chain, gear；It is preferred that use silk
Thick stick nut.
In use, as shown in Figure 1,80 one end of ophthalmic instruments is installed on runing rest 90, through secondary support 93
Through hole 94；80 other end of ophthalmic instruments is clamped by fixture 81.Start the 3rd electric rotating machine 31, the 3rd electric rotating machine
31 drive the first sliding block 51 to move by screw 41.When first sliding block 51 moves, driving first connecting rod 71 moves, first connecting rod 71
Movement can be such that second connecting rod 72 and third connecting rod 73 is rotated relative to fourth link 74.Second connecting rod 72 and third connecting rod 73 are opposite
When fourth link 74 rotates, 10 angle change of fixed frame can be made by the 5th connecting rod 75 and six-bar linkage 76.Pass through the 4th
Driving device 32 drives, and can rotate fixed frame 10.Driven by the 5th driving device 33, can lift fixed frame 10.Pass through
6th driving device 34 and the 7th driving device 35 drive, and can make to move in 10 both direction in the horizontal direction of fixed frame.
Novel ophthalmic surgical robot in the utility model, can not only adjust the angle of inclination of fixed frame, but also can revolve
Turn, can also lift, and moved along horizontal both direction, so setting makes it to meet all directions in ophthalmologic operation
Operations Requirements, allow it to replace human hand operation ophthalmic instruments.First transmission device uses six connecting rod assemblies, can be by
The linear motion driving force of one driving device output is converted to the driving force of the angle of inclination adjustment of driving fixed frame so that this reality
It is simple in structure to be readily produced, assemble with the new angle of inclination for both having realized adjustment ophthalmic instruments.The utility model can generation
Ophthalmologic operation is operated for human hand, adopts the movement of all directions for operating theater instruments of computerizeing control, its movement essence can either be controlled
Degree, will not be trembled by the physiology of people influences, good operation effect and from ectocine.The utility model using automatically opening up and
The fixture of closing, further increases the automatization level of ophthalmologic surgical procedures.Using runing rest, surgical procedure can be increased
Function.Using secondary support, operating theater instruments can be supported, makes its activity more stable.
Embodiment in the utility model is only used for illustrating the utility model, does not form to right
Limitation, other substantially equivalent replacements that those skilled in that art are contemplated that, in scope of protection of the utility model
It is interior.
Claims (14)
1. novel ophthalmic surgical robot, it is characterised in that including：
Fixed frame；
Fixture, the fixture are installed on the fixed frame, and the fixture is set in which can open and close, and the fixture is used to press from both sides
Hold ophthalmic instruments；
First driving means, the first driving means drive the fixture to open and close or pass through the first actuator drives
The fixture opens and closes ground and sets；
Cross-brace arm, is arranged on the cross-brace arm fixed frame adjustable tilt angle；
The cross-brace arm is movably set.
2. novel ophthalmic surgical robot according to claim 1, it is characterised in that the fixture includes the first clamping limb
With the second clamping limb, first clamping limb and the second clamping limb are rotatably installed on fixed frame；First driving
Device is the first electric rotating machine, and the transmission device includes first gear and second gear, and first gear is engaged with second gear；
The first gear is co-axially mounted with the first clamping limb；The second gear is co-axially mounted with second clamping limb；
The first electric rotating machine driving first gear or second gear are rotatably set.
3. novel ophthalmic surgical robot according to claim 1, it is characterised in that rotation is additionally provided with the fixed frame
Turn stent and the second driving device, the runing rest can be rotatably set on the fixed frame；Second driving device
The runing rest is driven rotatably to set or rotatably set by runing rest described in the second actuator drives.
4. novel ophthalmic surgical robot according to claim 3, it is characterised in that second driving device is second
Electric rotating machine, second transmission device are synchronous belt；Second driving device drives the rotation by the synchronous belt
Stent is rotatably set.
5. novel ophthalmic surgical robot according to claim 3, it is characterised in that be additionally provided with pair on the fixed frame
Stent, the secondary support are provided with through hole；The secondary support is installed between the runing rest and the fixture.
6. novel ophthalmic surgical robot according to claim 1, it is characterised in that further include the 3rd driving device, institute
The 3rd driving device is stated to drive the fixed frame adjustment angle of inclination or adjust the fixed frame inclination by the 3rd transmission device
Set to angle.
7. novel ophthalmic surgical robot according to claim 6, it is characterised in that described 3rd transmission device one end can
Linear motion ground is set, and the other end is connected with the fixed frame；3rd transmission device adjusts to be moved along a straight line by one end
The transmission device at the fixed frame angle of inclination of the other end.
8. novel ophthalmic surgical robot according to claim 7, it is characterised in that the 3rd transmission device includes the
One connecting rod, second connecting rod, third connecting rod, fourth link, the 5th connecting rod and six-bar linkage；The fourth link is installed on the horizontal stroke
To on support arm, the equal lower end of second connecting rod and third connecting rod is rotatably coupled with fourth link；The first connecting rod one
End is movably set, and the other end is connected with the second connecting rod upper end；5th connecting rod connects with the second connecting rod, the 3rd
Bar rotatably connects；5th interlinking lever end is connected with the fixed frame；Described six-bar linkage one end connects with the 3rd
Bar rotatably connects, and the other end is connected with fixed frame；During first connecting rod one end linear motion, the fixation is adjusted
The angle of inclination of frame.
9. novel ophthalmic surgical robot according to claim 7, it is characterised in that the cross-brace arm is provided with recessed
Groove, the 3rd driving device are arranged in the groove；The first sliding block of linear motion is provided with the groove；Described
Three driving devices drive first sliding block to move along a straight line；First sliding block is connected with described first transmission device one end.
10. novel ophthalmic surgical robot according to claim 9, it is characterised in that the 3rd driving device is the
Three electric rotating machines, the 3rd electric rotating machine are connected with screw；First sliding block coordinates with the wire rod thread；Described 3rd
Electric rotating machine drives the screw rotation, and the screw drives first sliding block along screw axial linear movement when rotating.
11. novel ophthalmic surgical robot according to claim 1, it is characterised in that further include four-drive device, institute
Cross-brace arm is stated to be rotatably mounted on the second sliding block；The four-drive device drives the cross-brace arm rotatably
Set or rotatably set by cross-brace arm described in the 4th actuator drives.
12. novel ophthalmic surgical robot according to claim 11, it is characterised in that further include the 5th driving device；
Second sliding block is liftably arranged on vertical supporting arm, and the 5th driving device directly drives the second sliding block liter
Drop is set up and down by the second sliding block described in the 5th actuator drives.
13. novel ophthalmic surgical robot according to claim 12, it is characterised in that further include the 6th driving device；
The vertical supporting arm is arranged in first base horizontally moveablely, and the 6th driving device directly drives the vertical branch
Brace sets or is set with moving horizontally by vertical supporting seat described in the 6th actuator drives with moving horizontally.
14. novel ophthalmic surgical robot according to claim 13, it is characterised in that further include the 7th driving device；
The first base is arranged in second base horizontally moveablely, and the 7th driving device directly drives the first base
Set with moving horizontally or set with moving horizontally by first base described in the 7th actuator drives；The vertical supporting arm
Move horizontally direction and the first base to move horizontally direction vertical.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720085930.0U CN207356172U (en) | 2017-01-23 | 2017-01-23 | Novel ophthalmic surgical robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720085930.0U CN207356172U (en) | 2017-01-23 | 2017-01-23 | Novel ophthalmic surgical robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207356172U true CN207356172U (en) | 2018-05-15 |
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ID=62424233
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720085930.0U Active CN207356172U (en) | 2017-01-23 | 2017-01-23 | Novel ophthalmic surgical robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN207356172U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110812079A (en) * | 2019-11-09 | 2020-02-21 | 张志刚 | Painless double-fold eyelid operation matching system |
| CN111166472A (en) * | 2020-02-27 | 2020-05-19 | 郑州医笃筑工智能科技有限公司 | Arm is used in ophthalmic surgery training |
| CN111973337A (en) * | 2020-08-26 | 2020-11-24 | 希铭(江苏)光学科技发展有限公司 | Full-automatic vision ophthalmic surgery device |
-
2017
- 2017-01-23 CN CN201720085930.0U patent/CN207356172U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110812079A (en) * | 2019-11-09 | 2020-02-21 | 张志刚 | Painless double-fold eyelid operation matching system |
| CN111166472A (en) * | 2020-02-27 | 2020-05-19 | 郑州医笃筑工智能科技有限公司 | Arm is used in ophthalmic surgery training |
| CN111973337A (en) * | 2020-08-26 | 2020-11-24 | 希铭(江苏)光学科技发展有限公司 | Full-automatic vision ophthalmic surgery device |
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